Abstract
Floor plans can provide valuable prior information that helps enhance the
accuracy of indoor positioning systems. However, existing research typically
faces challenges in efficiently leveraging floor plan information and applying
it to complex indoor layouts. To fully exploit information from floor plans for
positioning, we propose a floor plan-assisted fusion positioning algorithm
(FP-BP) using Bluetooth low energy (BLE) and pedestrian dead reckoning (PDR).
In the considered system, a user holding a smartphone walks through a
positioning area with BLE beacons installed on the ceiling, and can locate
himself in real time. In particular, FP-BP consists of two phases. In the
offline phase, FP-BP programmatically extracts map features from a stylized
floor plan based on their binary masks, and constructs a mapping function to
identify the corresponding map feature of any given position on the map. In the
online phase, FP-BP continuously computes BLE positions and PDR results from
BLE signals and smartphone sensors, where a novel grid-based maximum likelihood
estimation (GML) algorithm is introduced to enhance BLE positioning. Then, a
particle filter is used to fuse them and obtain an initial estimate. Finally,
FP-BP performs post-position correction to obtain the final position based on
its specific map feature. Experimental results show that FP-BP can achieve a
real-time mean positioning accuracy of 1.19 m, representing an improvement of
over 28% compared to existing floor plan-fused baseline algorithms.